INAV Configurator with Helicopter support

_locales/en/messages.json

@@ -431,6 +431,9 @@
     "fcInfoReceived": {
         "message": "Flight controller info, identifier: <strong>$1</strong>, version: <strong>$2</strong>"
     },
+    "targetInfoReceived": {
+        "message": "Target variant: <strong>$1</strong>, is variable pitch: <strong>$2</strong>"
+    },
 
     "notifications_app_just_updated_to_version": {
         "message": "Application just updated to version: $1"
@@ -2455,6 +2458,12 @@
     "controlAxisThrottle": {
         "message": "Throttle [T]"
     },
+    "controlAxisCollective": {
+        "message": "Collective [C]"
+    },
+    "controlGyroGain": {
+        "message": "Gyro gain [G]"
+    },
     "controlAxisMotor": {
         "message": "Motor"
     },
@@ -2890,6 +2899,9 @@
     },
     "tabAdvancedTuningMultirotorTuningTitle": {
         "message": ": Multirotors"
+    },    
+    "tabAdvancedTuningHelicopterTuningTitle": {
+        "message": ": Helicopters"
     },
     "tabAdvancedTuningGenericTitle": {
         "message": "Generic settings"
@@ -2936,6 +2948,9 @@
     "multiRotorNavigationConfiguration": {
         "message": "Multirotor Navigation Settings"
     },
+    "helicopterNavigationConfiguration": {
+        "message": "Helicopter Navigation Settings"
+    },
     "userControlMode": {
         "message": "User Control Mode"
     },
@@ -2963,15 +2978,30 @@
     "posholdMaxBankAngle": {
         "message": "Multirotor max. banking angle"
     },
+    "posholdMaxBankAngleHeli": {
+        "message": "Helicopter max. banking angle"
+    },
     "posholdMaxBankAngleHelp": {
-        "message": "Maximum banking angle in navigation modes. Constrained by maximum ROLL angle in PID tuning tab."
+        "message": "Maximum banking angle in navigation modes. Constrained by maximum ROLL angle in PID tuning tab. CLI setting for multirotor and helicopter: nav_mc_bank_angle"
     },
     "posholdHoverThrottle": {
         "message": "Hover throttle"
     },
+    "posholdHoverThrottleHelp": {
+        "message": "Throttle at which the multirotor hovers. Used as a starting point for altitude hold. CLI: nav_mc_hover_thr"
+    },
     "posholdHoverMidThrottle": {
         "message": "Use mid. throttle for ALTHOLD"
     },
+    "posholdHoverCollective": {
+        "message": "Hover collective pitch for normal headspeed"
+    },
+    "posholdHoverCollectiveHelp": {
+        "message": "Collective pitch at which the helicopter hovers with the headspeed set to normal. Used as a starting point for altitude hold. For the IDLE_UP settings use the CLI: nav_hc_hover_collective_normal | nav_hc_hover_collective_idleup_1 | nav_hc_hover_collective_idleup_2"
+    },
+    "posholdHoverMidCollective": {
+        "message": "Use mid. collective pitch for ALTHOLD"
+    },
     "mcWpSlowdown": {
         "message": "Slow down when approaching waypoint"
     },
@@ -4568,6 +4598,9 @@
     "multirotorBrakingConfiguration": {
         "message": "Multirotor braking mode configuration"
     },
+    "helicopterBrakingConfiguration": {
+        "message": "Helicopter braking mode configuration"
+    },
     "mapProvider": {
         "message": "Map Provider"
     },

js/defaults_dialog.js

@@ -611,6 +611,210 @@ helper.defaultsDialog = (function () {
             }
         ]
     },
+    {
+        "title": 'HeliQuad - Variable Pitch Quadcopter',
+        "id": 7,
+        "collectivePitch": true,
+        "notRecommended": false,
+        "reboot": true,
+        "mixerToApply": 35,
+        "settings": [
+            {
+                key: "model_preview_type",
+                value: 35
+            },
+            /*
+            System
+            */
+            {
+                key: "gyro_hardware_lpf",
+                value: "256HZ"
+            },
+            {
+                key: "looptime",
+                value: 500
+            },
+            {
+                key: "motor_pwm_protocol",
+                value: "DSHOT300"
+            },
+            {
+                key: "servo_pwm_rate",
+                value: 330
+            },
+            {
+                key: "throttle_idle",
+                value: 0
+            },
+            {
+                key: "motor_poles",
+                value: 24
+            },
+            /*
+            Filtering
+            */
+            {
+                key: "gyro_main_lpf_hz",
+                value: 110
+            },
+            {
+                key: "gyro_main_lpf_type",
+                value: "PT1"
+            },
+            {
+                key: "dterm_lpf_hz",
+                value: 110
+            },
+            {
+                key: "dterm_lpf_type",
+                value: "PT3"
+            },
+            {
+                key: "dterm_lpf2_hz",
+                value: 0
+            },
+            {
+                key: "dterm_lpf2_type",
+                value: "PT1"
+            },
+            {
+                key: "dynamic_gyro_notch_enabled",
+                value: "ON"
+            },
+            {
+                key: "dynamic_gyro_notch_q",
+                value: 250
+            },
+            {
+                key: "dynamic_gyro_notch_min_hz",
+                value: 120
+            },
+            {
+                key: "setpoint_kalman_enabled",
+                value: "ON"
+            },
+            {
+                key: "setpoint_kalman_q",
+                value: 200
+            },
+            {
+                key: "smith_predictor_delay",   // Enable Smith Predictor 
+                value: 1.5
+            },   
+            /*
+            Mechanics
+            */
+            {
+                key: "airmode_type",
+                value: "STICK_CENTER"
+            },
+            {
+                key: "airmode_throttle_threshold",
+                value: 1150
+            },
+            {
+                key: "mc_iterm_relax",
+                value: "RP"
+            },
+            {
+                key: "d_boost_min",
+                value: 0.8
+            },
+            {
+                key: "d_boost_max",
+                value: 1.2
+            },
+            {
+                key: "antigravity_gain",
+                value: 2
+            },
+            {
+                key: "antigravity_accelerator",
+                value: 5
+            },
+            /*
+            Rates
+            */
+            {
+                key: "rc_yaw_expo",
+                value: 75
+            },
+            {
+                key: "rc_expo",
+                value: 75
+            },
+            {
+                key: "roll_rate",
+                value: 70
+            },
+            {
+                key: "pitch_rate",
+                value: 70
+            },
+            {
+                key: "yaw_rate",
+                value: 60
+            },
+            /*
+            PIDs
+            */
+            {
+                key: "mc_p_pitch",
+                value: 41
+            },
+            {
+                key: "mc_i_pitch",
+                value: 20
+            },
+            {
+                key: "mc_d_pitch",
+                value: 1
+            },
+            {
+                key: "mc_p_roll",
+                value: 41
+            },
+            {
+                key: "mc_i_roll",
+                value: 20
+            },
+            {
+                key: "mc_d_roll",
+                value: 1
+            },
+            {
+                key: "mc_p_yaw",
+                value: 80
+            },
+            {
+                key: "mc_i_yaw",
+                value: 35
+            },
+            /*
+             * TPA
+             */
+            {
+                key: "tpa_rate",
+                value: 20
+            },
+            {
+                key: "tpa_breakpoint",
+                value: 2000
+            },
+            {
+                key: "platform_type",
+                value: "HELICOPTER"
+            },
+            {
+                key: "applied_defaults",
+                value: 7
+            },
+            {
+                key: "failsafe_procedure",
+                value: "DROP"
+            }
+        ]
+    },    
     {
         "title": 'Airplane with a Tail',
         "notRecommended": false,
@@ -1315,6 +1519,8 @@ helper.defaultsDialog = (function () {
             return; //Defaults were applied, we can just ignore
         }
 
+        data = TARGET.isVariablePitch ? data : data.filter(d => !(d.collectivePitch || false));
+
         privateScope.render();
         $container.show();
     }

js/fc.js

@@ -1,6 +1,11 @@
 'use strict';
 
-// define all the global variables that are uses to hold FC state
+// define all the global variables that are used to hold FC state
+const TARGET = {  // woga65: info about the target variant
+    fullIdentifier: "",
+    isVariablePitch: false,
+}
+
 var CONFIG,
     LED_STRIP,
     LED_COLORS,
@@ -64,7 +69,8 @@ var CONFIG,
     SAFEHOMES,
     BOARD_ALIGNMENT,
     CURRENT_METER_CONFIG,
-    FEATURES;
+    FEATURES,
+    ESC_RPMS;       // woga65:
 
 var FC = {
     restartRequired: false,
@@ -76,6 +82,9 @@ var FC = {
     isMultirotor: function () {
         return (MIXER_CONFIG.platformType == PLATFORM_MULTIROTOR || MIXER_CONFIG.platformType == PLATFORM_TRICOPTER);
     },
+    isHelicopter: function () {
+        return (MIXER_CONFIG.platformType == PLATFORM_HELICOPTER);
+    },
     isRpyFfComponentUsed: function () {
         return true; // Currently all planes have roll, pitch and yaw FF
     },
@@ -539,6 +548,8 @@ var FC = {
 
         SETTINGS = {};
 
+        ESC_RPMS = [];      // woga65:
+
         SAFEHOMES = new SafehomeCollection();
     },
     getOutputUsages: function() {
@@ -818,7 +829,12 @@ var FC = {
         }
     },
     getRcMapLetters: function () {
-        return ['A', 'E', 'R', 'T'];
+        if (RC_MAP.length === 8 || TARGET.isVariablePitch) {
+            return MIXER_CONFIG.platformType === PLATFORM_HELICOPTER    // woga65: rc-channel remapping
+                ? ['A', 'E', 'R', 'T', '5', 'C', 'G', '8']              // if variable pitch, map collective + gyro gain
+                : ['A', 'E', 'R', 'T', '5', '6', '7', '8'];             // else map AUX2/CH6 + AUX3/CH7
+        }
+        return ['A', 'E', 'R', 'T'];                                    // FC firmware restricted to 4-channel mapping
     },
     isRcMapValid: function (val) {
         var strBuffer = val.split(''),
@@ -851,8 +867,8 @@ var FC = {
             'RC Yaw',               // 6
             'RC Throttle',          // 7
             'RC Channel 5',         // 8
-            'RC Channel 6',         // 9
-            'RC Channel 7',         // 10
+            TARGET.isVariablePitch ? 'RC Collective Pitch' : 'RC Channel 6',    // 9    // woga65: channel naming for either
+            TARGET.isVariablePitch ? 'RC Gyro Gain' : 'RC Channel 7',           // 10   // variable pitch or regular aircraft
             'RC Channel 8',         // 11
             'Gimbal Pitch',         // 12
             'Gimbal Roll',          // 13